11. Collaborative Control of Unmanned Vehicle Matrix Formation Based on Autonomous Neighborhood Negotiation

In large-scale activities or performances, the formation of unmanned vehicles on the large platform has become a shocking means of artistic expression. How to achieve low-cost and reliable cooperative control and highly reliable formation in a limited observation area with viewing Angle constraints is a very valuable area of research. This paper puts forward a kind of driving control method of unmanned vehicle formation with matrix arrangement based on a small-scale region driving consultation. An observation and neighborhood negotiation topology is designed, which can realize the automatic maintenance of unmanned vehicle formation in the leader-slave mode with a single leader. This method can provide a low-cost and high-reliability cooperative control scheme for large-scale unmanned vehicle formation performance.